master/master.c
author Martin Troxler <martin.troxler@komaxgroup.com>
Mon, 30 Nov 2009 12:26:24 +0100
changeset 1584 cd9a68fd5b89
parent 1583 017fa8fd9ac1
child 1585 1f640e321ee4
permissions -rw-r--r--
ec_print_data: show only the first 128 and the last 128 bytes of a data block
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT master methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/kernel.h>
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#include <linux/string.h>
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#include <linux/slab.h>
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#include <linux/delay.h>
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#include <linux/device.h>
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#include <linux/version.h>
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#include "globals.h"
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#include "slave.h"
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#include "slave_config.h"
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#include "device.h"
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#include "datagram.h"
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#ifdef EC_EOE
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#include "ethernet.h"
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#endif
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#include "master.h"
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/*****************************************************************************/
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#ifdef EC_HAVE_CYCLES
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/** Frame timeout in cycles.
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 */
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static cycles_t timeout_cycles;
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#else
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/** Frame timeout in jiffies.
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 */
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static unsigned long timeout_jiffies;
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#endif
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/*****************************************************************************/
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void ec_master_clear_slave_configs(ec_master_t *);
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void ec_master_clear_domains(ec_master_t *);
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static int ec_master_idle_thread(void *);
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static int ec_master_operation_thread(void *);
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#ifdef EC_EOE
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static int ec_master_eoe_thread(void *);
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#endif
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void ec_master_find_dc_ref_clock(ec_master_t *);
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/*****************************************************************************/
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/** Static variables initializer.
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*/
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void ec_master_init_static(void)
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{
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#ifdef EC_HAVE_CYCLES
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    timeout_cycles = (cycles_t) EC_IO_TIMEOUT /* us */ * (cpu_khz / 1000);
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#else
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    // one jiffy may always elapse between time measurement
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    timeout_jiffies = max(EC_IO_TIMEOUT * HZ / 1000000, 1);
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#endif
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}
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/*****************************************************************************/
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/**
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   Master constructor.
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   \return 0 in case of success, else < 0
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*/
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int ec_master_init(ec_master_t *master, /**< EtherCAT master */
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        unsigned int index, /**< master index */
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        const uint8_t *main_mac, /**< MAC address of main device */
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        const uint8_t *backup_mac, /**< MAC address of backup device */
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        dev_t device_number, /**< Character device number. */
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        struct class *class, /**< Device class. */
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        unsigned int debug_level /**< Debug level (module parameter). */
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        )
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{
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    int ret;
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    master->index = index;
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    master->reserved = 0;
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    sema_init(&master->master_sem, 1);
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    master->main_mac = main_mac;
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    master->backup_mac = backup_mac;
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    sema_init(&master->device_sem, 1);
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    master->phase = EC_ORPHANED;
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   125
    master->active = 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   126
    master->injection_seq_fsm = 0;
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   127
    master->injection_seq_rt = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   128
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   129
    master->slaves = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   130
    master->slave_count = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   131
    
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   132
    INIT_LIST_HEAD(&master->configs);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   133
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   134
    master->app_time = 0ULL;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   135
    master->app_start_time = 0ULL;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   136
    master->has_start_time = 0;
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
   137
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   138
    master->scan_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   139
    master->allow_scan = 1;
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   140
    sema_init(&master->scan_sem, 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   141
    init_waitqueue_head(&master->scan_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   142
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   143
    master->config_busy = 0;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   144
    master->allow_config = 1;
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   145
    sema_init(&master->config_sem, 1);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   146
    init_waitqueue_head(&master->config_queue);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   147
    
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   148
    INIT_LIST_HEAD(&master->datagram_queue);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   149
    master->datagram_index = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   150
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   151
    INIT_LIST_HEAD(&master->ext_datagram_queue);
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   152
    sema_init(&master->ext_queue_sem, 1);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   153
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   154
    INIT_LIST_HEAD(&master->sdo_datagram_queue);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   155
95
0066de7a456d Domains als Liste verwaltet.
Florian Pose <fp@igh-essen.com>
parents: 94
diff changeset
   156
    INIT_LIST_HEAD(&master->domains);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   157
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
   158
    master->debug_level = debug_level;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   159
    master->stats.timeouts = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   160
    master->stats.corrupted = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   161
    master->stats.unmatched = 0;
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   162
    master->stats.output_jiffies = 0;
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   163
    master->frames_timed_out = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   164
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   165
    master->thread = NULL;
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   166
1041
42c9ac58d9ce Removed state machine cycle time measuring.
Florian Pose <fp@igh-essen.com>
parents: 1040
diff changeset
   167
#ifdef EC_EOE
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   168
    master->eoe_thread = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   169
    INIT_LIST_HEAD(&master->eoe_handlers);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   170
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   171
1579
326d47aa986c applied komax patch to version r1822
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1507
diff changeset
   172
    sema_init(&master->io_sem, 1);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   173
    master->send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   174
    master->receive_cb = NULL;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   175
    master->cb_data = NULL;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   176
    master->app_send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   177
    master->app_receive_cb = NULL;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   178
    master->app_cb_data = NULL;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   179
872
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   180
    INIT_LIST_HEAD(&master->sii_requests);
d4e0380d63b3 Renamed EEPROM to SII.
Florian Pose <fp@igh-essen.com>
parents: 861
diff changeset
   181
    init_waitqueue_head(&master->sii_queue);
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 597
diff changeset
   182
849
4b712ec8929d Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   183
    INIT_LIST_HEAD(&master->slave_sdo_requests);
646
fbbd4e54e031 Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents: 643
diff changeset
   184
    init_waitqueue_head(&master->sdo_queue);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   185
1388
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1369
diff changeset
   186
    INIT_LIST_HEAD(&master->reg_requests);
3c886ec376f5 Renamed phy_ commands to reg_.
Florian Pose <fp@igh-essen.com>
parents: 1369
diff changeset
   187
    init_waitqueue_head(&master->reg_queue);
1200
ce1a65f06efc Added phy commands.
Florian Pose <fp@igh-essen.com>
parents: 1198
diff changeset
   188
1335
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   189
    INIT_LIST_HEAD(&master->foe_requests);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   190
    init_waitqueue_head(&master->foe_queue);
09c6fce1ae45 merge -c1616 branches/1.4-foe: Included FoE patch from Olav Zarges.
Florian Pose <fp@igh-essen.com>
parents: 1332
diff changeset
   191
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   192
    // init devices
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   193
    ret = ec_device_init(&master->main_device, master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   194
    if (ret < 0)
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   195
        goto out_return;
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   196
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   197
    ret = ec_device_init(&master->backup_device, master);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   198
    if (ret < 0)
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   199
        goto out_clear_main;
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   200
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   201
    // init state machine datagram
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   202
    ec_datagram_init(&master->fsm_datagram);
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   203
    snprintf(master->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "master-fsm");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   204
    ret = ec_datagram_prealloc(&master->fsm_datagram, EC_MAX_DATA_SIZE);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   205
    if (ret < 0) {
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   206
        ec_datagram_clear(&master->fsm_datagram);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   207
        EC_ERR("Failed to allocate FSM datagram.\n");
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   208
        goto out_clear_backup;
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   209
    }
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   210
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   211
    // create state machine object
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   212
    ec_fsm_master_init(&master->fsm, master, &master->fsm_datagram);
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
Florian Pose <fp@igh-essen.com>
parents: 214
diff changeset
   213
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   214
    // init reference sync datagram
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   215
    ec_datagram_init(&master->ref_sync_datagram);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   216
    snprintf(master->ref_sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "refsync");
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   217
    ret = ec_datagram_apwr(&master->ref_sync_datagram, 0, 0x0910, 8);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   218
    if (ret < 0) {
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   219
        ec_datagram_clear(&master->ref_sync_datagram);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   220
        EC_ERR("Failed to allocate reference synchronisation datagram.\n");
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   221
        goto out_clear_fsm;
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   222
    }
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   223
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   224
    // init sync datagram
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   225
    ec_datagram_init(&master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   226
    snprintf(master->sync_datagram.name, EC_DATAGRAM_NAME_SIZE, "sync");
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
   227
    ret = ec_datagram_prealloc(&master->sync_datagram, 4);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   228
    if (ret < 0) {
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   229
        ec_datagram_clear(&master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   230
        EC_ERR("Failed to allocate synchronisation datagram.\n");
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   231
        goto out_clear_ref_sync;
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   232
    }
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   233
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   234
    // init sync monitor datagram
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   235
    ec_datagram_init(&master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   236
    snprintf(master->sync_mon_datagram.name, EC_DATAGRAM_NAME_SIZE, "syncmon");
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   237
    ret = ec_datagram_brd(&master->sync_mon_datagram, 0x092c, 4);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   238
    if (ret < 0) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   239
        ec_datagram_clear(&master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   240
        EC_ERR("Failed to allocate sync monitoring datagram.\n");
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   241
        goto out_clear_sync;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   242
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   243
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
   244
    ec_master_find_dc_ref_clock(master);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   245
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   246
    // init character device
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   247
    ret = ec_cdev_init(&master->cdev, master, device_number);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   248
    if (ret)
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   249
        goto out_clear_sync_mon;
1013
52256b75f975 Create class device with device_number information in sysfs.
Florian Pose <fp@igh-essen.com>
parents: 1010
diff changeset
   250
    
1369
61793d845ad6 Preparations to compile against 2.6.27.
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diff changeset
   251
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
61793d845ad6 Preparations to compile against 2.6.27.
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diff changeset
   252
    master->class_device = device_create(class, NULL,
61793d845ad6 Preparations to compile against 2.6.27.
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diff changeset
   253
            MKDEV(MAJOR(device_number), master->index), NULL,
61793d845ad6 Preparations to compile against 2.6.27.
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diff changeset
   254
            "EtherCAT%u", master->index);
61793d845ad6 Preparations to compile against 2.6.27.
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diff changeset
   255
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
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diff changeset
   256
    master->class_device = device_create(class, NULL,
642048176899 Applied patch by Mario Witkowski to support the new class/device
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diff changeset
   257
            MKDEV(MAJOR(device_number), master->index),
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diff changeset
   258
            "EtherCAT%u", master->index);
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diff changeset
   259
#elif LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 15)
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diff changeset
   260
    master->class_device = class_device_create(class, NULL,
1369
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diff changeset
   261
            MKDEV(MAJOR(device_number), master->index), NULL,
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diff changeset
   262
            "EtherCAT%u", master->index);
1015
24efac66a647 Added support for different versions of class_device_create().
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diff changeset
   263
#else
1250
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diff changeset
   264
    master->class_device = class_device_create(class,
1369
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diff changeset
   265
            MKDEV(MAJOR(device_number), master->index), NULL,
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diff changeset
   266
            "EtherCAT%u", master->index);
1015
24efac66a647 Added support for different versions of class_device_create().
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diff changeset
   267
#endif
1013
52256b75f975 Create class device with device_number information in sysfs.
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diff changeset
   268
    if (IS_ERR(master->class_device)) {
52256b75f975 Create class device with device_number information in sysfs.
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diff changeset
   269
        EC_ERR("Failed to create class device!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
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diff changeset
   270
        ret = PTR_ERR(master->class_device);
1013
52256b75f975 Create class device with device_number information in sysfs.
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diff changeset
   271
        goto out_clear_cdev;
52256b75f975 Create class device with device_number information in sysfs.
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parents: 1010
diff changeset
   272
    }
144
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste.
Florian Pose <fp@igh-essen.com>
parents: 140
diff changeset
   273
178
b84f69db8566 MERGE branches/sysfs -> trunk (whole SysFS implementation)
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diff changeset
   274
    return 0;
226
07247920a7ba EoE with workqueue; bugfix in ec_master_init()
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parents: 214
diff changeset
   275
1013
52256b75f975 Create class device with device_number information in sysfs.
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   276
out_clear_cdev:
52256b75f975 Create class device with device_number information in sysfs.
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   277
    ec_cdev_clear(&master->cdev);
1535
0c484ee12d89 DC synchrony monitoring methods.
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parents: 1530
diff changeset
   278
out_clear_sync_mon:
0c484ee12d89 DC synchrony monitoring methods.
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   279
    ec_datagram_clear(&master->sync_mon_datagram);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
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   280
out_clear_sync:
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
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diff changeset
   281
    ec_datagram_clear(&master->sync_datagram);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
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diff changeset
   282
out_clear_ref_sync:
9d04cc08f40f DC sync reference clock to application time. TBC...
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diff changeset
   283
    ec_datagram_clear(&master->ref_sync_datagram);
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   284
out_clear_fsm:
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
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   285
    ec_fsm_master_clear(&master->fsm);
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   286
    ec_datagram_clear(&master->fsm_datagram);
659
d7c5a958bad0 Removed unecessary clearing of EoE handlers in master init function;
Florian Pose <fp@igh-essen.com>
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diff changeset
   287
out_clear_backup:
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   288
    ec_device_clear(&master->backup_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   289
out_clear_main:
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   290
    ec_device_clear(&master->main_device);
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
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diff changeset
   291
out_return:
1313
ed15eef57d5c Improved error case return codes of many functions.
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diff changeset
   292
    return ret;
0
05c992bf5847 trunk, tags und branches
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parents:
diff changeset
   293
}
05c992bf5847 trunk, tags und branches
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
39
6965c23a6826 likely/unlikely, Fehlermeldungen in zyklischem Code begrenzt und Kommentare ge??ndert.
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parents: 35
diff changeset
   295
/*****************************************************************************/
0
05c992bf5847 trunk, tags und branches
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parents:
diff changeset
   296
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
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   297
/** Destructor.
195
674071846ee3 Translated all comments and documentation to english language.
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diff changeset
   298
*/
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   299
void ec_master_clear(
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   300
        ec_master_t *master /**< EtherCAT master */
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   301
        )
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
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diff changeset
   302
{
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
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diff changeset
   303
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
642048176899 Applied patch by Mario Witkowski to support the new class/device
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diff changeset
   304
    device_unregister(master->class_device);
642048176899 Applied patch by Mario Witkowski to support the new class/device
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diff changeset
   305
#else
1013
52256b75f975 Create class device with device_number information in sysfs.
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diff changeset
   306
    class_device_unregister(master->class_device);
1250
642048176899 Applied patch by Mario Witkowski to support the new class/device
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parents: 1245
diff changeset
   307
#endif
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   308
995
54149a703c47 Removed kobject from slave_config.
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parents: 994
diff changeset
   309
    ec_cdev_clear(&master->cdev);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   310
    
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   311
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
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diff changeset
   312
    ec_master_clear_eoe_handlers(master);
715
f12ff7c08623 Added --enable-eoe conditional.
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parents: 714
diff changeset
   313
#endif
994
e29edcced328 Clear domains before slave configs, because domain references the FMMU
Florian Pose <fp@igh-essen.com>
parents: 993
diff changeset
   314
    ec_master_clear_domains(master);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   315
    ec_master_clear_slave_configs(master);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   316
    ec_master_clear_slaves(master);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   317
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
   318
    ec_datagram_clear(&master->sync_mon_datagram);
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
   319
    ec_datagram_clear(&master->sync_datagram);
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
   320
    ec_datagram_clear(&master->ref_sync_datagram);
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   321
    ec_fsm_master_clear(&master->fsm);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 527
diff changeset
   322
    ec_datagram_clear(&master->fsm_datagram);
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   323
    ec_device_clear(&master->backup_device);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   324
    ec_device_clear(&master->main_device);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   325
}
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   326
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   327
/*****************************************************************************/
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   328
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   329
#ifdef EC_EOE
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   330
/** Clear and free all EoE handlers.
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   331
 */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   332
void ec_master_clear_eoe_handlers(
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   333
        ec_master_t *master /**< EtherCAT master */
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   334
        )
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   335
{
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   336
    ec_eoe_t *eoe, *next;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   337
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   338
    list_for_each_entry_safe(eoe, next, &master->eoe_handlers, list) {
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   339
        list_del(&eoe->list);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   340
        ec_eoe_clear(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   341
        kfree(eoe);
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
   342
    }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   343
}
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   344
#endif
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   345
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   346
/*****************************************************************************/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
   347
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   348
/** Clear all slave configurations.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   349
 */
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   350
void ec_master_clear_slave_configs(ec_master_t *master)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   351
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   352
    ec_slave_config_t *sc, *next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   353
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   354
    list_for_each_entry_safe(sc, next, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   355
        list_del(&sc->list);
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   356
        ec_slave_config_clear(sc);
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
   357
        kfree(sc);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   358
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   359
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   360
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   361
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   362
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   363
/** Clear all slaves.
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   364
 */
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   365
void ec_master_clear_slaves(ec_master_t *master)
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents: 236
diff changeset
   366
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   367
    ec_slave_t *slave;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   368
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   369
    master->dc_ref_clock = NULL;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
   370
1538
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   371
    // external requests are obsolete, so we wake pending waiters and remove
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   372
    // them from the list
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   373
    //
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   374
	// SII requests
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   375
	while (1) {
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   376
		ec_sii_write_request_t *request;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   377
		if (list_empty(&master->sii_requests))
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   378
			break;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   379
		// get first request
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   380
        request = list_entry(master->sii_requests.next,
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   381
                ec_sii_write_request_t, list);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   382
		list_del_init(&request->list); // dequeue
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   383
		EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   384
				request->slave->ring_position);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   385
		request->state = EC_INT_REQUEST_FAILURE;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   386
		wake_up(&master->sii_queue);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   387
	}
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   388
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   389
	// Register requests
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   390
	while (1) {
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   391
	    ec_reg_request_t *request;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   392
		if (list_empty(&master->reg_requests))
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   393
			break;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   394
		// get first request
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   395
		request = list_entry(master->reg_requests.next,
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   396
				ec_reg_request_t, list);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   397
		list_del_init(&request->list); // dequeue
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   398
		EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   399
				request->slave->ring_position);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   400
		request->state = EC_INT_REQUEST_FAILURE;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   401
		wake_up(&master->reg_queue);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   402
	}
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   403
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   404
	// SDO requests
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   405
	while (1) {
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   406
		ec_master_sdo_request_t *request;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   407
		if (list_empty(&master->slave_sdo_requests))
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   408
			break;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   409
		// get first request
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   410
		request = list_entry(master->slave_sdo_requests.next,
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   411
				ec_master_sdo_request_t, list);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   412
		list_del_init(&request->list); // dequeue
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   413
		EC_INFO("Discarding SDO request, slave %u does not exist anymore.\n",
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   414
				request->slave->ring_position);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   415
		request->req.state = EC_INT_REQUEST_FAILURE;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   416
		wake_up(&master->sdo_queue);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   417
	}
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   418
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   419
	// FoE requests
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   420
	while (1) {
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   421
		ec_master_foe_request_t *request;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   422
		if (list_empty(&master->foe_requests))
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   423
			break;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   424
		// get first request
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   425
		request = list_entry(master->foe_requests.next,
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   426
				ec_master_foe_request_t, list);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   427
		list_del_init(&request->list); // dequeue
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   428
		EC_INFO("Discarding FOE request, slave %u does not exist anymore.\n",
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   429
				request->slave->ring_position);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   430
		request->req.state = EC_INT_REQUEST_FAILURE;
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   431
		wake_up(&master->foe_queue);
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   432
	}
cf2fa3be6add Fixed clearing slaves: Also clear external requests before. Thanks to Martin
Florian Pose <fp@igh-essen.com>
parents: 1535
diff changeset
   433
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   434
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   435
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   436
            slave++) {
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   437
        ec_slave_clear(slave);
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   438
    }
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   439
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   440
    if (master->slaves) {
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   441
        kfree(master->slaves);
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   442
        master->slaves = NULL;
1004
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   443
    }
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   444
990b89d8ad03 Fixed duplicate kfree() bug.
Florian Pose <fp@igh-essen.com>
parents: 1000
diff changeset
   445
    master->slave_count = 0;
74
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   446
}
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   447
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   448
/*****************************************************************************/
9bf603942791 Neues Slave-Interface, CRC-Pr?fung und mehrfaches Scannen nun ungef?hrlich.
Florian Pose <fp@igh-essen.com>
parents: 73
diff changeset
   449
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   450
/** Clear all domains.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   451
 */
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   452
void ec_master_clear_domains(ec_master_t *master)
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   453
{
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   454
    ec_domain_t *domain, *next;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   455
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   456
    list_for_each_entry_safe(domain, next, &master->domains, list) {
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   457
        list_del(&domain->list);
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   458
        ec_domain_clear(domain);
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   459
        kfree(domain);
448
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   460
    }
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   461
}
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   462
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   463
/*****************************************************************************/
e4b76dc7910c FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   464
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   465
/** Internal sending callback.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   466
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   467
void ec_master_internal_send_cb(
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   468
        void *cb_data /**< Callback data. */
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   469
        )
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   470
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   471
    ec_master_t *master = (ec_master_t *) cb_data;
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   472
    down(&master->io_sem);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   473
    ecrt_master_send_ext(master);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   474
    up(&master->io_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   475
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   476
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   477
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   478
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   479
/** Internal receiving callback.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   480
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   481
void ec_master_internal_receive_cb(
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   482
        void *cb_data /**< Callback data. */
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   483
        )
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   484
{
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   485
    ec_master_t *master = (ec_master_t *) cb_data;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   486
    down(&master->io_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   487
    ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
   488
    up(&master->io_sem);
515
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   489
}
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   490
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   491
/*****************************************************************************/
37aa1bfa0dee Internal locking callbacks, improved locking.
Florian Pose <fp@igh-essen.com>
parents: 511
diff changeset
   492
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   493
/** Starts the master thread.
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   494
 *
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   495
 * \retval  0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   496
 * \retval <0 Error code.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   497
 */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   498
int ec_master_thread_start(
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   499
        ec_master_t *master, /**< EtherCAT master */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   500
        int (*thread_func)(void *), /**< thread function to start */
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   501
        const char *name /**< Thread name. */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   502
        )
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   503
{
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   504
    EC_INFO("Starting %s thread.\n", name);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   505
    master->thread = kthread_run(thread_func, master, name);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   506
    if (IS_ERR(master->thread)) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   507
        int err = (int) PTR_ERR(master->thread);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   508
        EC_ERR("Failed to start master thread (error %i)!\n", err);
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   509
        master->thread = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   510
        return err;
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   511
    }
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   512
    
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   513
    return 0;
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   514
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   515
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   516
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   517
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   518
/** Stops the master thread.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   519
 */
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   520
void ec_master_thread_stop(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   521
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   522
        )
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   523
{
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   524
    unsigned long sleep_jiffies;
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   525
    
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   526
    if (!master->thread) {
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   527
        EC_WARN("ec_master_thread_stop(): Already finished!\n");
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   528
        return;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   529
    }
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   530
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   531
    if (master->debug_level)
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   532
        EC_DBG("Stopping master thread.\n");
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   533
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   534
    kthread_stop(master->thread);
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
   535
    master->thread = NULL;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   536
    EC_INFO("Master thread exited.\n");
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   537
1198
be606e9caba4 Fixed race concerning thread signaling when master thread had no
Florian Pose <fp@igh-essen.com>
parents: 1197
diff changeset
   538
    if (master->fsm_datagram.state != EC_DATAGRAM_SENT)
be606e9caba4 Fixed race concerning thread signaling when master thread had no
Florian Pose <fp@igh-essen.com>
parents: 1197
diff changeset
   539
        return;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   540
    
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   541
    // wait for FSM datagram
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   542
    sleep_jiffies = max(HZ / 100, 1); // 10 ms, at least 1 jiffy
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   543
    schedule_timeout(sleep_jiffies);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   544
}
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   545
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   546
/*****************************************************************************/
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   547
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   548
/** Transition function from ORPHANED to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   549
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   550
int ec_master_enter_idle_phase(
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   551
        ec_master_t *master /**< EtherCAT master */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   552
        )
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   553
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   554
    int ret;
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   555
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   556
    if (master->debug_level)
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   557
        EC_DBG("ORPHANED -> IDLE.\n");
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   558
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   559
    master->send_cb = ec_master_internal_send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   560
    master->receive_cb = ec_master_internal_receive_cb;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   561
    master->cb_data = master;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   562
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   563
    master->phase = EC_IDLE;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   564
    ret = ec_master_thread_start(master, ec_master_idle_thread,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   565
            "EtherCAT-IDLE");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   566
    if (ret)
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   567
        master->phase = EC_ORPHANED;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   568
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   569
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   570
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   571
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   572
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   573
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   574
/** Transition function from IDLE to ORPHANED phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   575
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   576
void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   577
{
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   578
    if (master->debug_level)
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   579
        EC_DBG("IDLE -> ORPHANED.\n");
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   580
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   581
    master->phase = EC_ORPHANED;
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   582
    
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   583
#ifdef EC_EOE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   584
    ec_master_eoe_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   585
#endif
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
   586
    ec_master_thread_stop(master);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   587
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   588
    down(&master->master_sem);
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 990
diff changeset
   589
    ec_master_clear_slaves(master);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
   590
    up(&master->master_sem);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   591
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   592
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   593
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   594
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   595
/** Transition function from IDLE to OPERATION phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   596
 */
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   597
int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   598
{
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   599
    int ret = 0;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   600
    ec_slave_t *slave;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   601
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   602
    ec_eoe_t *eoe;
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   603
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   604
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   605
    if (master->debug_level)
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   606
        EC_DBG("IDLE -> OPERATION.\n");
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   607
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   608
    down(&master->config_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   609
    master->allow_config = 0; // temporarily disable slave configuration
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   610
    if (master->config_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   611
        up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   612
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   613
        // wait for slave configuration to complete
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   614
        ret = wait_event_interruptible(master->config_queue,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   615
                    !master->config_busy);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   616
        if (ret) {
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   617
            EC_INFO("Finishing slave configuration interrupted by signal.\n");
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   618
            goto out_allow;
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   619
        }
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   620
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   621
        if (master->debug_level)
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   622
            EC_DBG("Waiting for pending slave configuration returned.\n");
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   623
    } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   624
        up(&master->config_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   625
    }
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   626
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   627
    down(&master->scan_sem);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   628
    master->allow_scan = 0; // 'lock' the slave list
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   629
    if (!master->scan_busy) {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   630
        up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   631
    } else {
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   632
        up(&master->scan_sem);
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   633
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   634
        // wait for slave scan to complete
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   635
        ret = wait_event_interruptible(master->scan_queue, !master->scan_busy);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   636
        if (ret) {
794
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   637
            EC_INFO("Waiting for slave scan interrupted by signal.\n");
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   638
            goto out_allow;
684dea874956 Allow bus configuration when link is down.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   639
        }
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   640
        
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   641
        if (master->debug_level)
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   642
            EC_DBG("Waiting for pending slave scan returned.\n");
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
   643
    }
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   644
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   645
    // set states for all slaves
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   646
    for (slave = master->slaves;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   647
            slave < master->slaves + master->slave_count;
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
   648
            slave++) {
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 640
diff changeset
   649
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   650
    }
1451
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
   651
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   652
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   653
    // ... but set EoE slaves to OP
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   654
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   655
        if (ec_eoe_is_open(eoe))
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   656
            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
   657
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
   658
#endif
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   659
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   660
    master->phase = EC_OPERATION;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   661
    master->app_send_cb = NULL;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   662
    master->app_receive_cb = NULL;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
   663
    master->app_cb_data = NULL;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   664
    return ret;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   665
    
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   666
out_allow:
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   667
    master->allow_scan = 1;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   668
    master->allow_config = 1;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   669
    return ret;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   670
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   671
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   672
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   673
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   674
/** Transition function from OPERATION to IDLE phase.
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   675
 */
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   676
void ec_master_leave_operation_phase(
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   677
        ec_master_t *master /**< EtherCAT master */
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   678
        )
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   679
{
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   680
    if (master->active)
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
   681
        ecrt_master_deactivate(master);
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
   682
1006
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   683
    if (master->debug_level)
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   684
        EC_DBG("OPERATION -> IDLE.\n");
90db4c3de57b Added a few debugging messages.
Florian Pose <fp@igh-essen.com>
parents: 1004
diff changeset
   685
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
   686
    master->phase = EC_IDLE;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   687
}
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   688
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   689
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   690
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   691
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   692
/** Injects sdo datagrams that fit into the datagram queue
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   693
 */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   694
void ec_master_inject_sdo_datagrams(
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   695
        ec_master_t *master /**< EtherCAT master */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   696
        )
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   697
{
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   698
    ec_datagram_t *sdo_datagram, *n;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   699
    list_for_each_entry_safe(sdo_datagram, n, &master->sdo_datagram_queue, queue) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   700
        list_del_init(&sdo_datagram->queue);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   701
        if (master->debug_level)
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   702
            EC_DBG("queuing SDO datagram %08x\n",(unsigned int)sdo_datagram);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   703
        ec_master_queue_datagram(master, sdo_datagram);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   704
    }
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   705
}
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   706
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   707
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   708
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   709
/** Places a sdo datagram in the sdo datagram queue.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   710
 */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   711
void ec_master_queue_sdo_datagram(
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   712
        ec_master_t *master, /**< EtherCAT master */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   713
        ec_datagram_t *datagram /**< datagram */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   714
        )
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   715
{
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   716
    down(&master->io_sem);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   717
    list_add_tail(&datagram->queue, &master->sdo_datagram_queue);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   718
    datagram->state = EC_DATAGRAM_QUEUED;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   719
    up(&master->io_sem);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   720
}
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   721
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   722
/*****************************************************************************/
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 444
diff changeset
   723
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   724
/** Places a datagram in the datagram queue.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   725
 */
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   726
void ec_master_queue_datagram(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   727
        ec_master_t *master, /**< EtherCAT master */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   728
        ec_datagram_t *datagram /**< datagram */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   729
        )
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   730
{
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   731
    ec_datagram_t *queued_datagram;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   732
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   733
    if (datagram->state == EC_DATAGRAM_SENT)
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   734
        return;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   735
    // check, if the datagram is already queued
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   736
    list_for_each_entry(queued_datagram, &master->datagram_queue, queue) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   737
        if (queued_datagram == datagram) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
   738
            datagram->skip_count++;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   739
            if (master->debug_level)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
   740
                EC_DBG("skipping datagram %x.\n", (unsigned int) datagram);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   741
            datagram->state = EC_DATAGRAM_QUEUED;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   742
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   743
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   744
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   745
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   746
    list_add_tail(&datagram->queue, &master->datagram_queue);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   747
    datagram->state = EC_DATAGRAM_QUEUED;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   748
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   749
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   750
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   751
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   752
/** Places a datagram in the non-application datagram queue.
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   753
 */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   754
void ec_master_queue_datagram_ext(
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   755
        ec_master_t *master, /**< EtherCAT master */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   756
        ec_datagram_t *datagram /**< datagram */
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   757
        )
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   758
{
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   759
    down(&master->ext_queue_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   760
    list_add_tail(&datagram->queue, &master->ext_datagram_queue);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   761
    up(&master->ext_queue_sem);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   762
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   763
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   764
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
   765
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   766
/** Sends the datagrams in the queue.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   767
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   768
 * \return 0 in case of success, else < 0
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   769
 */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   770
void ec_master_send_datagrams(ec_master_t *master /**< EtherCAT master */)
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   771
{
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   772
    ec_datagram_t *datagram, *next;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   773
    size_t datagram_size;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   774
    uint8_t *frame_data, *cur_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   775
    void *follows_word;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   776
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   777
    cycles_t cycles_start, cycles_sent, cycles_end;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   778
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   779
    unsigned long jiffies_sent;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   780
    unsigned int frame_count, more_datagrams_waiting;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   781
    struct list_head sent_datagrams;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   782
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   783
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   784
    cycles_start = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   785
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   786
    frame_count = 0;
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   787
    INIT_LIST_HEAD(&sent_datagrams);
208
b7797f8a813d command timeout, EoE processing with kernel timer.
Florian Pose <fp@igh-essen.com>
parents: 206
diff changeset
   788
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   789
    if (unlikely(master->debug_level > 1))
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   790
        EC_DBG("ec_master_send_datagrams\n");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   791
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   792
    do {
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   793
        // fetch pointer to transmit socket buffer
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   794
        frame_data = ec_device_tx_data(&master->main_device);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   795
        cur_data = frame_data + EC_FRAME_HEADER_SIZE;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   796
        follows_word = NULL;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   797
        more_datagrams_waiting = 0;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   798
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   799
        // fill current frame with datagrams
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   800
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   801
            if (datagram->state != EC_DATAGRAM_QUEUED) continue;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   802
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   803
            // does the current datagram fit in the frame?
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   804
            datagram_size = EC_DATAGRAM_HEADER_SIZE + datagram->data_size
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   805
                + EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   806
            if (cur_data - frame_data + datagram_size > ETH_DATA_LEN) {
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   807
                more_datagrams_waiting = 1;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   808
                break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   809
            }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   810
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   811
            list_add_tail(&datagram->sent, &sent_datagrams);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   812
            datagram->index = master->datagram_index++;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   813
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   814
            if (unlikely(master->debug_level > 1))
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   815
                EC_DBG("adding datagram 0x%02X\n", datagram->index);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   816
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   817
            // set "datagram following" flag in previous frame
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   818
            if (follows_word)
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   819
                EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   820
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   821
            // EtherCAT datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   822
            EC_WRITE_U8 (cur_data,     datagram->type);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   823
            EC_WRITE_U8 (cur_data + 1, datagram->index);
708
90bdb315f560 Fixed EtherCAT addressing problem on big-endian systems. The slaves
Florian Pose <fp@igh-essen.com>
parents: 697
diff changeset
   824
            memcpy(cur_data + 2, datagram->address, EC_ADDR_LEN);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   825
            EC_WRITE_U16(cur_data + 6, datagram->data_size & 0x7FF);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   826
            EC_WRITE_U16(cur_data + 8, 0x0000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   827
            follows_word = cur_data + 6;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   828
            cur_data += EC_DATAGRAM_HEADER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   829
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   830
            // EtherCAT datagram data
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   831
            memcpy(cur_data, datagram->data, datagram->data_size);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   832
            cur_data += datagram->data_size;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   833
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   834
            // EtherCAT datagram footer
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   835
            EC_WRITE_U16(cur_data, 0x0000); // reset working counter
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   836
            cur_data += EC_DATAGRAM_FOOTER_SIZE;
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   837
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   838
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   839
        if (list_empty(&sent_datagrams)) {
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   840
            if (unlikely(master->debug_level > 1))
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   841
                EC_DBG("nothing to send.\n");
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   842
            break;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   843
        }
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   844
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   845
        // EtherCAT frame header
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   846
        EC_WRITE_U16(frame_data, ((cur_data - frame_data
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   847
                                   - EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   848
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   849
        // pad frame
211
c684b6b7adaf Using kernel Ethernet constants.
Florian Pose <fp@igh-essen.com>
parents: 208
diff changeset
   850
        while (cur_data - frame_data < ETH_ZLEN - ETH_HLEN)
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   851
            EC_WRITE_U8(cur_data++, 0x00);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   852
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   853
        if (unlikely(master->debug_level > 1))
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 958
diff changeset
   854
            EC_DBG("frame size: %u\n", cur_data - frame_data);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   855
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   856
        // send frame
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   857
        ec_device_send(&master->main_device, cur_data - frame_data);
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   858
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   859
        cycles_sent = get_cycles();
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   860
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   861
        jiffies_sent = jiffies;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   862
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   863
        // set datagram states and sending timestamps
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   864
        list_for_each_entry_safe(datagram, next, &sent_datagrams, sent) {
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   865
            datagram->state = EC_DATAGRAM_SENT;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   866
#ifdef EC_HAVE_CYCLES
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   867
            datagram->cycles_sent = cycles_sent;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   868
#endif
398
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   869
            datagram->jiffies_sent = jiffies_sent;
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   870
            list_del_init(&datagram->sent); // empty list of sent datagrams
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   871
        }
ff37601361a8 Fixed serveral races while starting up under high CPU load.
Florian Pose <fp@igh-essen.com>
parents: 397
diff changeset
   872
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   873
        frame_count++;
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   874
    }
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   875
    while (more_datagrams_waiting);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   876
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   877
#ifdef EC_HAVE_CYCLES
303
03fd45bc13ef SysFS entry for debug level.
Florian Pose <fp@igh-essen.com>
parents: 298
diff changeset
   878
    if (unlikely(master->debug_level > 1)) {
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   879
        cycles_end = get_cycles();
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 958
diff changeset
   880
        EC_DBG("ec_master_send_datagrams sent %u frames in %uus.\n",
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   881
               frame_count,
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
   882
               (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   883
    }
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   884
#endif
176
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   885
}
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   886
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   887
/*****************************************************************************/
1ac0fc378b95 Sending of multiple frames
Florian Pose <fp@igh-essen.com>
parents: 173
diff changeset
   888
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   889
/** Processes a received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   890
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   891
 * This function is called by the network driver for every received frame.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   892
 * 
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   893
 * \return 0 in case of success, else < 0
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
   894
 */
331
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   895
void ec_master_receive_datagrams(ec_master_t *master, /**< EtherCAT master */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   896
                                 const uint8_t *frame_data, /**< frame data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   897
                                 size_t size /**< size of the received data */
17f58fe99511 Renamed ec_master_receive() to ec_master_receive_datagrams().
Florian Pose <fp@igh-essen.com>
parents: 330
diff changeset
   898
                                 )
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   899
{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   900
    size_t frame_size, data_size;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   901
    uint8_t datagram_type, datagram_index;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   902
    unsigned int cmd_follows, matched;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   903
    const uint8_t *cur_data;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   904
    ec_datagram_t *datagram;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   905
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   906
    if (unlikely(size < EC_FRAME_HEADER_SIZE)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   907
        if (master->debug_level) {
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   908
            EC_DBG("Corrupted frame received (size %u < %u byte):\n",
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   909
                    size, EC_FRAME_HEADER_SIZE);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   910
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   911
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   912
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   913
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   914
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   915
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   916
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   917
    cur_data = frame_data;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   918
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
   919
    // check length of entire frame
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   920
    frame_size = EC_READ_U16(cur_data) & 0x07FF;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   921
    cur_data += EC_FRAME_HEADER_SIZE;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   922
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   923
    if (unlikely(frame_size > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   924
        if (master->debug_level) {
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   925
            EC_DBG("Corrupted frame received (invalid frame size %u for "
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   926
                    "received size %u):\n", frame_size, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   927
            ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   928
        }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   929
        master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   930
        ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   931
        return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   932
    }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   933
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   934
    cmd_follows = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   935
    while (cmd_follows) {
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   936
        // process datagram header
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   937
        datagram_type  = EC_READ_U8 (cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   938
        datagram_index = EC_READ_U8 (cur_data + 1);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   939
        data_size      = EC_READ_U16(cur_data + 6) & 0x07FF;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   940
        cmd_follows    = EC_READ_U16(cur_data + 6) & 0x8000;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   941
        cur_data += EC_DATAGRAM_HEADER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   942
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   943
        if (unlikely(cur_data - frame_data
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   944
                     + data_size + EC_DATAGRAM_FOOTER_SIZE > size)) {
1303
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   945
            if (master->debug_level) {
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   946
                EC_DBG("Corrupted frame received (invalid data size %u):\n",
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   947
                        data_size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   948
                ec_print_data(frame_data, size);
448f2e9fa483 Output corrupted frame reasons.
Florian Pose <fp@igh-essen.com>
parents: 1279
diff changeset
   949
            }
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   950
            master->stats.corrupted++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   951
            ec_master_output_stats(master);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   952
            return;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   953
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   954
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   955
        // search for matching datagram in the queue
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   956
        matched = 0;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   957
        list_for_each_entry(datagram, &master->datagram_queue, queue) {
690
5e231f6a3d2e Re-ordered criteria for datagram matching.
Florian Pose <fp@igh-essen.com>
parents: 688
diff changeset
   958
            if (datagram->index == datagram_index
5e231f6a3d2e Re-ordered criteria for datagram matching.
Florian Pose <fp@igh-essen.com>
parents: 688
diff changeset
   959
                && datagram->state == EC_DATAGRAM_SENT
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   960
                && datagram->type == datagram_type
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   961
                && datagram->data_size == data_size) {
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   962
                matched = 1;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   963
                break;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   964
            }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   965
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   966
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   967
        // no matching datagram was found
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   968
        if (!matched) {
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   969
            master->stats.unmatched++;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   970
            ec_master_output_stats(master);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   971
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   972
            if (unlikely(master->debug_level > 0)) {
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   973
                EC_DBG("UNMATCHED datagram:\n");
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   974
                ec_print_data(cur_data - EC_DATAGRAM_HEADER_SIZE,
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   975
                        EC_DATAGRAM_HEADER_SIZE + data_size
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   976
                        + EC_DATAGRAM_FOOTER_SIZE);
692
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
   977
#ifdef EC_DEBUG_RING
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
   978
                ec_device_debug_ring_print(&master->main_device);
fe7cf37c33f1 Implemented debug frame ring to output the last n frames for debugging
Florian Pose <fp@igh-essen.com>
parents: 691
diff changeset
   979
#endif
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   980
            }
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
   981
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   982
            cur_data += data_size + EC_DATAGRAM_FOOTER_SIZE;
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   983
            continue;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   984
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   985
345
beb0a77d73c0 Improved datagram reception in sync_io and frame dequeuing.
Florian Pose <fp@igh-essen.com>
parents: 344
diff changeset
   986
        // copy received data into the datagram memory
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   987
        memcpy(datagram->data, cur_data, data_size);
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   988
        cur_data += data_size;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
   989
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   990
        // set the datagram's working counter
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   991
        datagram->working_counter = EC_READ_U16(cur_data);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   992
        cur_data += EC_DATAGRAM_FOOTER_SIZE;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   993
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
   994
        // dequeue the received datagram
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
   995
        datagram->state = EC_DATAGRAM_RECEIVED;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   996
#ifdef EC_HAVE_CYCLES
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   997
        datagram->cycles_received = master->main_device.cycles_poll;
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
   998
#endif
579
17c6fd3b076e Made master devices persistent; added ec_device_attach() and ec_device_detach().
Florian Pose <fp@igh-essen.com>
parents: 578
diff changeset
   999
        datagram->jiffies_received = master->main_device.jiffies_poll;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1000
        list_del_init(&datagram->queue);
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1001
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1002
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1003
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1004
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 291
diff changeset
  1005
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1006
/** Output master statistics.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1007
 *
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1008
 * This function outputs statistical data on demand, but not more often than
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1009
 * necessary. The output happens at most once a second.
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1010
 */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 191
diff changeset
  1011
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1012
{
344
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1013
    if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1014
        master->stats.output_jiffies = jiffies;
5d8281f1aa2a Replaced longer cycle timestamps with jiffies.
Florian Pose <fp@igh-essen.com>
parents: 341
diff changeset
  1015
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1016
        if (master->stats.timeouts) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 958
diff changeset
  1017
            EC_WARN("%u datagram%s TIMED OUT!\n", master->stats.timeouts,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1018
                    master->stats.timeouts == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1019
            master->stats.timeouts = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1020
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1021
        if (master->stats.corrupted) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 958
diff changeset
  1022
            EC_WARN("%u frame%s CORRUPTED!\n", master->stats.corrupted,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1023
                    master->stats.corrupted == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1024
            master->stats.corrupted = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1025
        }
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1026
        if (master->stats.unmatched) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 958
diff changeset
  1027
            EC_WARN("%u datagram%s UNMATCHED!\n", master->stats.unmatched,
396
189909f92019 Minor output changes.
Florian Pose <fp@igh-essen.com>
parents: 382
diff changeset
  1028
                    master->stats.unmatched == 1 ? "" : "s");
98
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1029
            master->stats.unmatched = 0;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen).
Florian Pose <fp@igh-essen.com>
parents: 95
diff changeset
  1030
        }
73
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst.
Florian Pose <fp@igh-essen.com>
parents: 68
diff changeset
  1031
    }
54
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1032
}
7506e67dd122 Vereinheitlichte Schnittstellen, Include-Verzeichnis und Module getrennt.
Florian Pose <fp@igh-essen.com>
parents: 52
diff changeset
  1033
68
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1034
/*****************************************************************************/
a452700db994 Neue ASCII-Adressierung und Code-Dokumantation.
Florian Pose <fp@igh-essen.com>
parents: 66
diff changeset
  1035
1029
61ffe5f22306 Renamed master 'mode' to 'phase'.
Florian Pose <fp@igh-essen.com>
parents: 1028
diff changeset
  1036
/** Master kernel thread function for IDLE phase.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1037
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1038
static int ec_master_idle_thread(void *priv_data)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1039
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1040
    ec_master_t *master = (ec_master_t *) priv_data;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1041
    ec_slave_t *slave = NULL;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1042
    int fsm_exec;
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1043
    if (master->debug_level)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1044
        EC_DBG("Idle thread running.\n");
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1045
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1046
    while (!kthread_should_stop()) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
  1047
        ec_datagram_output_stats(&master->fsm_datagram);
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
  1048
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1049
        // receive
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1050
        down(&master->io_sem);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1051
        ecrt_master_receive(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1052
        up(&master->io_sem);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1053
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1054
        fsm_exec = 0;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1055
        // execute master & slave state machines
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1056
        if (down_interruptible(&master->master_sem))
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1057
            break;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1058
        fsm_exec = ec_fsm_master_exec(&master->fsm);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1059
        for (slave = master->slaves;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1060
                slave < master->slaves + master->slave_count;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1061
                slave++) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1062
            ec_fsm_slave_exec(&slave->fsm);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1063
        }
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1064
        up(&master->master_sem);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1065
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1066
        // queue and send
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1067
        down(&master->io_sem);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1068
        if (fsm_exec) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1069
            ec_master_queue_datagram(master, &master->fsm_datagram);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1070
        }
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1071
        ec_master_inject_sdo_datagrams(master);
1031
000593b576dd Removed 'end' and 'error' states from master state machine.
Florian Pose <fp@igh-essen.com>
parents: 1029
diff changeset
  1072
        ecrt_master_send(master);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1073
        up(&master->io_sem);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1074
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1075
        if (ec_fsm_master_idle(&master->fsm)) {
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1076
            set_current_state(TASK_INTERRUPTIBLE);
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1077
            schedule_timeout(1);
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1078
        }
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1079
        else {
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1080
            schedule();
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1081
        }
525
8b20781bd1e0 Master workqueue replaced with kernel thread.
Florian Pose <fp@igh-essen.com>
parents: 524
diff changeset
  1082
    }
518
b6a1426ba724 Fixed race: Stop EoE processing when entering or leaving operation mode.
Florian Pose <fp@igh-essen.com>
parents: 517
diff changeset
  1083
    
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1084
    if (master->debug_level)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1085
        EC_DBG("Master IDLE thread exiting...\n");
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1086
    return 0;
191
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1087
}
ca805255a935 Prepared Free-Run mode
Florian Pose <fp@igh-essen.com>
parents: 188
diff changeset
  1088
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1089
/*****************************************************************************/
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1090
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1091
/** Master kernel thread function for OPERATION phase.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1092
 */
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1093
static int ec_master_operation_thread(void *priv_data)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1094
{
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1095
    ec_master_t *master = (ec_master_t *) priv_data;
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1096
    ec_slave_t *slave = NULL;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1097
    int fsm_exec;
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1098
    if (master->debug_level)
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1099
        EC_DBG("Operation thread running.\n");
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1100
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1101
    while (!kthread_should_stop()) {
719
03d5b96632fb Store skipped information in datagrams; name datagrams for statistics
Florian Pose <fp@igh-essen.com>
parents: 715
diff changeset
  1102
        ec_datagram_output_stats(&master->fsm_datagram);
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1103
        if (master->injection_seq_rt == master->injection_seq_fsm) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1104
            // output statistics
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1105
            ec_master_output_stats(master);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1106
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1107
            fsm_exec = 0;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1108
            // execute master & slave state machines
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1109
            if (down_interruptible(&master->master_sem))
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1110
                break;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1111
            fsm_exec += ec_fsm_master_exec(&master->fsm);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1112
            for (slave = master->slaves;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1113
                    slave < master->slaves + master->slave_count;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1114
                    slave++) {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1115
                ec_fsm_slave_exec(&slave->fsm);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1116
            }
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1117
            up(&master->master_sem);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1118
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1119
            // inject datagrams (let the rt thread queue them, see ecrt_master_send)
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1120
            if (fsm_exec)
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1121
                master->injection_seq_fsm++;
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1122
        }
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1123
        if (ec_fsm_master_idle(&master->fsm)) {
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1124
            set_current_state(TASK_INTERRUPTIBLE);
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1125
            schedule_timeout(1);
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1126
        }
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1127
        else {
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1128
            schedule();
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 648
diff changeset
  1129
        }
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1130
    }
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1131
    
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1132
    if (master->debug_level)
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1133
        EC_DBG("Master OP thread exiting...\n");
1241
794cbccdcd00 Moved threads to kthread interface.
Florian Pose <fp@igh-essen.com>
parents: 1237
diff changeset
  1134
    return 0;
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 612
diff changeset
  1135
}
578
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1136
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1137
/*****************************************************************************/
f402b4bd2f4d Removed ktype for module kobject; added backup device for master; device
Florian Pose <fp@igh-essen.com>
parents: 576
diff changeset
  1138
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1139
#ifdef EC_EOE
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1140
/** Starts Ethernet over EtherCAT processing on demand.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1141
 */
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1142
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1143
{
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1144
    struct sched_param param = { .sched_priority = 0 };
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1145
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1146
    if (master->eoe_thread) {
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1147
        EC_WARN("EoE already running!\n");
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1148
        return;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1149
    }
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1150
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1151
    if (list_empty(&master->eoe_handlers))
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1152
        return;
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1153
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1154
    if (!master->send_cb || !master->receive_cb) {
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1155
        EC_WARN("No EoE processing because of missing callbacks!\n");
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1156
        return;
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1157
    }
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1158
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1159
    EC_INFO("Starting EoE thread.\n");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1160
    master->eoe_thread = kthread_run(ec_master_eoe_thread, master,
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1161
            "EtherCAT-EoE");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1162
    if (IS_ERR(master->eoe_thread)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1163
        int err = (int) PTR_ERR(master->eoe_thread);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1164
        EC_ERR("Failed to start EoE thread (error %i)!\n", err);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1165
        master->eoe_thread = NULL;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1166
        return;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1167
    }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1168
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1169
    sched_setscheduler(master->eoe_thread, SCHED_NORMAL, &param);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1170
    set_user_nice(master->eoe_thread, 0);
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1171
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1172
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1173
/*****************************************************************************/
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1174
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1175
/** Stops the Ethernet over EtherCAT processing.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1176
 */
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1177
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1178
{
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1179
    if (master->eoe_thread) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1180
        EC_INFO("Stopping EoE thread.\n");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1181
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1182
        kthread_stop(master->eoe_thread);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1183
        master->eoe_thread = NULL;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1184
        EC_INFO("EoE thread exited.\n");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1185
    }
251
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1186
}
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1187
c1d0b63a9302 EoE in Free-Run mode; Finished slave configuration state machine.
Florian Pose <fp@igh-essen.com>
parents: 246
diff changeset
  1188
/*****************************************************************************/
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
  1189
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1190
/** Does the Ethernet over EtherCAT processing.
997
652180478e95 Removed kobject from master and module. Sysfs is gone!
Florian Pose <fp@igh-essen.com>
parents: 995
diff changeset
  1191
 */
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1192
static int ec_master_eoe_thread(void *priv_data)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1193
{
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1194
    ec_master_t *master = (ec_master_t *) priv_data;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1195
    ec_eoe_t *eoe;
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1196
    unsigned int none_open, sth_to_send, all_idle;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1197
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1198
    if (master->debug_level)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1199
        EC_DBG("EoE thread running.\n");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1200
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1201
    while (!kthread_should_stop()) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1202
        none_open = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1203
        all_idle = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1204
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1205
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1206
            if (ec_eoe_is_open(eoe)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1207
                none_open = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1208
                break;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1209
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1210
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1211
        if (none_open)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1212
            goto schedule;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1213
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1214
        // receive datagrams
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1215
        master->receive_cb(master->cb_data);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1216
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1217
        // actual EoE processing
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1218
        sth_to_send = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1219
        list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1220
            ec_eoe_run(eoe);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1221
            if (eoe->queue_datagram) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1222
                sth_to_send = 1;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1223
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1224
            if (!ec_eoe_is_idle(eoe)) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1225
                all_idle = 0;
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1226
            }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1227
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1228
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1229
        if (sth_to_send) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1230
            list_for_each_entry(eoe, &master->eoe_handlers, list) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1231
                ec_eoe_queue(eoe);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1232
            }
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1233
            // (try to) send datagrams
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1234
            down(&master->ext_queue_sem);
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1235
            master->send_cb(master->cb_data);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1236
            up(&master->ext_queue_sem);
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1237
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1238
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1239
schedule:
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1240
        if (all_idle) {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1241
            set_current_state(TASK_INTERRUPTIBLE);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1242
            schedule_timeout(1);
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1243
        } else {
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1244
            schedule();
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1245
        }
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1246
    }
1041
42c9ac58d9ce Removed state machine cycle time measuring.
Florian Pose <fp@igh-essen.com>
parents: 1040
diff changeset
  1247
    
1489
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1248
    if (master->debug_level)
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1249
        EC_DBG("EoE thread exiting...\n");
f77a1182b6f4 EoE processing with kthread.
Florian Pose <fp@igh-essen.com>
parents: 1485
diff changeset
  1250
    return 0;
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1251
}
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1252
#endif
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1253
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1254
/*****************************************************************************/
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  1255
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1256
/** Detaches the slave configurations from the slaves.
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1257
 */
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1258
void ec_master_detach_slave_configs(
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1259
        ec_master_t *master /**< EtherCAT master. */
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1260
        )
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1261
{
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1262
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1263
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1264
    list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1265
        ec_slave_config_detach(sc); 
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1266
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1267
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1268
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1269
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1270
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1271
/** Attaches the slave configurations to the slaves.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1272
 */
1028
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1273
void ec_master_attach_slave_configs(
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1274
        ec_master_t *master /**< EtherCAT master. */
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1275
        )
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1276
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1277
    ec_slave_config_t *sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1278
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1279
    list_for_each_entry(sc, &master->configs, list) {
1028
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1280
        ec_slave_config_attach(sc);
afdd4bdbb7ec Removed configs_attached flag; changed return value of
Florian Pose <fp@igh-essen.com>
parents: 1024
diff changeset
  1281
    }
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1282
}
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
  1283
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1284
/*****************************************************************************/
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1285
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1286
/** Common implementation for ec_master_find_slave()
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1287
 * and ec_master_find_slave_const().
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1288
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1289
#define EC_FIND_SLAVE \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1290
    do { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1291
        if (alias) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1292
            for (; slave < master->slaves + master->slave_count; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1293
                    slave++) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1294
                if (slave->sii.alias == alias) \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1295
                break; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1296
            } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1297
            if (slave == master->slaves + master->slave_count) \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1298
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1299
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1300
        \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1301
        slave += position; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1302
        if (slave < master->slaves + master->slave_count) { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1303
            return slave; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1304
        } else { \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1305
            return NULL; \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1306
        } \
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1307
    } while (0)
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1308
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1309
/** Finds a slave in the bus, given the alias and position.
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1310
 */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1311
ec_slave_t *ec_master_find_slave(
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1312
        ec_master_t *master, /**< EtherCAT master. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1313
        uint16_t alias, /**< Slave alias. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1314
        uint16_t position /**< Slave position. */
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1315
        )
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1316
{
1000
5746fdd1ca2e Store slaves in an array instead of a list.
Florian Pose <fp@igh-essen.com>
parents: 997
diff changeset
  1317
    ec_slave_t *slave = master->slaves;
1077
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1318
    EC_FIND_SLAVE;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1319
}
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1320
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1321
/** Finds a slave in the bus, given the alias and position.
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1322
 *
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1323
 * Const version.
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1324
 */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1325
const ec_slave_t *ec_master_find_slave_const(
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1326
        const ec_master_t *master, /**< EtherCAT master. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1327
        uint16_t alias, /**< Slave alias. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1328
        uint16_t position /**< Slave position. */
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1329
        )
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1330
{
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1331
    const ec_slave_t *slave = master->slaves;
c95cd717b852 Added ec_master_find_slave_const().
Florian Pose <fp@igh-essen.com>
parents: 1075
diff changeset
  1332
    EC_FIND_SLAVE;
927
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1333
}
ffb7d1876ce0 Introduced ec_master_find_slave().
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1334
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1335
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1336
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1337
/** Get the number of slave configurations provided by the application.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1338
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1339
 * \return Number of configurations.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1340
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1341
unsigned int ec_master_config_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1342
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1343
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1344
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1345
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1346
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1347
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1348
    list_for_each_entry(sc, &master->configs, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1349
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1350
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1351
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1352
    return count;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1353
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1354
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1355
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1356
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1357
/** Common implementation for ec_master_get_config()
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1358
 * and ec_master_get_config_const().
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1359
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1360
#define EC_FIND_CONFIG \
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1361
    do { \
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1362
        list_for_each_entry(sc, &master->configs, list) { \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1363
            if (pos--) \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1364
                continue; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1365
            return sc; \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1366
        } \
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1367
        return NULL; \
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1368
    } while (0)
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1369
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1370
/** Get a slave configuration via its position in the list.
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1371
 *
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1372
 * \return Slave configuration or \a NULL.
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1373
 */
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1374
ec_slave_config_t *ec_master_get_config(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1375
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1376
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1377
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1378
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1379
    ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1380
    EC_FIND_CONFIG;
1252
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1381
}
0b411da5fd24 Added ec_master_get_config().
Florian Pose <fp@igh-essen.com>
parents: 1250
diff changeset
  1382
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1383
/** Get a slave configuration via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1384
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1385
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1386
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1387
 * \return Slave configuration or \a NULL.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1388
 */
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1389
const ec_slave_config_t *ec_master_get_config_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1390
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1391
        unsigned int pos /**< List position. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1392
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1393
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1394
    const ec_slave_config_t *sc;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1395
    EC_FIND_CONFIG;
990
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1396
}
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1397
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1398
/*****************************************************************************/
4f223f3df05a Bus configuration via 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
  1399
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1400
/** Get the number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1401
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1402
 * \return Number of domains.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1403
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1404
unsigned int ec_master_domain_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1405
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1406
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1407
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1408
    const ec_domain_t *domain;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1409
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1410
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1411
    list_for_each_entry(domain, &master->domains, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1412
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1413
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1414
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1415
    return count;
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1416
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1417
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1418
/*****************************************************************************/
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1419
1082
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1420
/** Common implementation for ec_master_find_domain() and
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1421
 * ec_master_find_domain_const().
ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Florian Pose <fp@igh-essen.com>
parents: 1079
diff changeset
  1422
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1423
#define EC_FIND_DOMAIN \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1424
    do { \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1425
        list_for_each_entry(domain, &master->domains, list) { \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1426
            if (index--) \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1427
                continue; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1428
            return domain; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1429
        } \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1430
        \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1431
        return NULL; \
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1432
    } while (0)
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1433
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1434
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1435
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1436
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1437
 */
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1438
ec_domain_t *ec_master_find_domain(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1439
        ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1440
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1441
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1442
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1443
    ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1444
    EC_FIND_DOMAIN;
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1445
}
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1446
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1447
/** Get a domain via its position in the list.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1448
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1449
 * Const version.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1450
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1451
 * \return Domain pointer, or \a NULL if not found.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1452
 */
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1453
const ec_domain_t *ec_master_find_domain_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1454
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1455
        unsigned int index /**< Domain index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1456
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1457
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1458
    const ec_domain_t *domain;
1078
fce58ba8a912 Added ec_master_find_domain_const().
Florian Pose <fp@igh-essen.com>
parents: 1077
diff changeset
  1459
    EC_FIND_DOMAIN;
946
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1460
}
6ef20c5de875 Introduced ec_master_domain_count() and ec_master_find_domain().
Florian Pose <fp@igh-essen.com>
parents: 927
diff changeset
  1461
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1462
/*****************************************************************************/
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1463
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1464
#ifdef EC_EOE
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1465
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1466
/** Get the number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1467
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1468
 * \return Number of EoE handlers.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1469
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1470
uint16_t ec_master_eoe_handler_count(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1471
        const ec_master_t *master /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1472
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1473
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1474
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1475
    unsigned int count = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1476
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1477
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1478
        count++;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1479
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1480
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1481
    return count;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1482
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1483
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1484
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1486
/** Get an EoE handler via its position in the list.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1487
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1488
 * Const version.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1489
 *
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1490
 * \return EoE handler pointer, or \a NULL if not found.
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1491
 */
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1492
const ec_eoe_t *ec_master_get_eoe_handler_const(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1493
        const ec_master_t *master, /**< EtherCAT master. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1494
        uint16_t index /**< EoE handler index. */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1495
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1496
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1497
    const ec_eoe_t *eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1498
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1499
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1500
        if (index--)
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1501
            continue;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1502
        return eoe;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1503
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1504
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1505
    return NULL;
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1506
}
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1507
1516
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1508
#endif
e3b09f847512 Fixed compiler error on --disable-eoe.
Florian Pose <fp@igh-essen.com>
parents: 1513
diff changeset
  1509
1485
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1510
/*****************************************************************************/
5ddc3a455059 ethercat eoe command.
Florian Pose <fp@igh-essen.com>
parents: 1483
diff changeset
  1511
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1512
/** Set the debug level.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1513
 *
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1514
 * \retval       0 Success.
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1515
 * \retval -EINVAL Invalid debug level.
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1516
 */
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1517
int ec_master_debug_level(
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1082
diff changeset
  1518
        ec_master_t *master, /**< EtherCAT master. */
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1519
        unsigned int level /**< Debug level. May be 0, 1 or 2. */
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1520
        )
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1521
{
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1522
    if (level > 2) {
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1523
        EC_ERR("Invalid debug level %u!\n", level);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1524
        return -EINVAL;
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1525
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1526
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1527
    if (level != master->debug_level) {
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1528
        master->debug_level = level;
1399
f79d4bb5b23a Added debug_level module parameter. debug_level is now unsigned int.
Florian Pose <fp@igh-essen.com>
parents: 1396
diff changeset
  1529
        EC_INFO("Master debug level set to %u.\n", master->debug_level);
956
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1530
    }
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1531
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1532
    return 0;
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1533
}
d9b9bc794d10 Implemented 'ethercat debug' command.
Florian Pose <fp@igh-essen.com>
parents: 946
diff changeset
  1534
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1535
/*****************************************************************************/
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1536
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1537
/** Finds the DC reference clock.
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1538
 */
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1539
void ec_master_find_dc_ref_clock(
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1540
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1541
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1542
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1543
    ec_slave_t *slave, *ref = NULL;
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1544
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1545
    for (slave = master->slaves;
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1546
            slave < master->slaves + master->slave_count;
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1547
            slave++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1548
        if (slave->base_dc_supported && slave->has_dc_system_time) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1549
            ref = slave;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1550
            break;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1551
        }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1552
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1553
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1554
    master->dc_ref_clock = ref;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1555
    
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1556
    // This call always succeeds, because the datagram has been pre-allocated.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1557
    ec_datagram_frmw(&master->sync_datagram,
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1558
            ref ? ref->station_address : 0xffff, 0x0910, 4);
1408
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1559
}
91b35db64a24 Find DC reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1399
diff changeset
  1560
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1561
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1562
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1563
/** Calculates the bus topology; recursion function.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1564
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1565
int ec_master_calc_topology_rec(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1566
        ec_master_t *master, /**< EtherCAT master. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1567
        ec_slave_t *port0_slave, /**< Slave at port 0. */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1568
        unsigned int *slave_position /**< Slave position. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1569
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1570
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1571
    ec_slave_t *slave = master->slaves + *slave_position;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1572
    unsigned int i;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1573
    int ret;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1574
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1575
    slave->ports[0].next_slave = port0_slave;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1576
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1577
    for (i = 1; i < EC_MAX_PORTS; i++) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1578
        if (!slave->ports[i].link.loop_closed) {
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1579
            *slave_position = *slave_position + 1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1580
            if (*slave_position < master->slave_count) {
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1581
                slave->ports[i].next_slave = master->slaves + *slave_position;
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1582
                ret = ec_master_calc_topology_rec(master,
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1583
                        slave, slave_position);
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1584
                if (ret)
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1585
                    return ret;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1586
            } else {
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1587
                return -1;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1588
            }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1589
        }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1590
    }
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1591
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1592
    return 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1593
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1594
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1595
/*****************************************************************************/
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1596
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1597
/** Calculates the bus topology.
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1598
 */
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1599
void ec_master_calc_topology(
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1600
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1601
        )
1421
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1602
{
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1603
    unsigned int slave_position = 0;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1604
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1605
    if (master->slave_count == 0)
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1606
        return;
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1607
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1608
    if (ec_master_calc_topology_rec(master, NULL, &slave_position))
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1609
        EC_ERR("Failed to calculate bus topology.\n");
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1610
}
043a518831b2 Bus topology calculation.
Florian Pose <fp@igh-essen.com>
parents: 1419
diff changeset
  1611
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1612
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1613
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1614
/** Calculates the bus transmission delays.
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1615
 */
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1616
void ec_master_calc_transmission_delays(
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1617
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1618
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1619
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1620
    ec_slave_t *slave;
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1621
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1622
    for (slave = master->slaves;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1623
            slave < master->slaves + master->slave_count;
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1624
            slave++) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1625
        ec_slave_calc_port_delays(slave);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1626
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1627
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1628
    if (master->dc_ref_clock) {
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1629
        uint32_t delay = 0;
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1630
        ec_slave_calc_transmission_delays_rec(master->dc_ref_clock, &delay);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1631
    }
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1632
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1633
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1634
/*****************************************************************************/
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1635
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1636
/** Distributed-clocks calculations.
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1637
 */
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1638
void ec_master_calc_dc(
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1639
        ec_master_t *master /**< EtherCAT master. */
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1640
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1641
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1642
    // find DC reference clock
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1500
diff changeset
  1643
    ec_master_find_dc_ref_clock(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1644
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1645
    // calculate bus topology
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1646
    ec_master_calc_topology(master);
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1647
1426
af45bba80d85 Transition->Transmission.
Florian Pose <fp@igh-essen.com>
parents: 1425
diff changeset
  1648
    ec_master_calc_transmission_delays(master);
1425
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1649
}
c1322a8793c0 Transition delay calculation. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1421
diff changeset
  1650
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1651
/******************************************************************************
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  1652
 *  Application interface
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1653
 *****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1654
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  1655
/** Same as ecrt_master_create_domain(), but with ERR_PTR() return value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  1656
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1657
ec_domain_t *ecrt_master_create_domain_err(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1658
        ec_master_t *master /**< master */
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1659
        )
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1660
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1661
    ec_domain_t *domain, *last_domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1662
    unsigned int index;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1663
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1664
    if (master->debug_level)
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1665
        EC_DBG("ecrt_master_create_domain(master = 0x%x)\n", (u32) master);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1666
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1667
    if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1668
        EC_ERR("Error allocating domain memory!\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1669
        return ERR_PTR(-ENOMEM);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1670
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1671
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1672
    down(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1673
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1674
    if (list_empty(&master->domains)) {
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1675
        index = 0;
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1676
    } else {
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1677
        last_domain = list_entry(master->domains.prev, ec_domain_t, list);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1678
        index = last_domain->index + 1;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1679
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1680
993
8c32564252fd Removed kobject from domain.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1681
    ec_domain_init(domain, master, index);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1682
    list_add_tail(&domain->list, &master->domains);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1683
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1684
    up(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1685
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1686
    if (master->debug_level)
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1687
        EC_DBG("Created domain %u.\n", domain->index);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1688
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1689
    return domain;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1690
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1691
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1692
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1693
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1694
ec_domain_t *ecrt_master_create_domain(
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1695
        ec_master_t *master /**< master */
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1696
        )
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1697
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1698
    ec_domain_t *d = ecrt_master_create_domain_err(master);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1699
    return IS_ERR(d) ? NULL : d;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1700
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1701
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1702
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1703
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1704
int ecrt_master_activate(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1705
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1706
    uint32_t domain_offset;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1707
    ec_domain_t *domain;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1708
    int ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1709
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1710
    if (master->debug_level)
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1711
        EC_DBG("ecrt_master_activate(master = 0x%x)\n", (u32) master);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1712
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1713
    if (master->active) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1714
        EC_WARN("%s: Master already active!\n", __func__);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1715
        return 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1716
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1717
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1718
    down(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1719
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1720
    // finish all domains
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1721
    domain_offset = 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1722
    list_for_each_entry(domain, &master->domains, list) {
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1723
        ret = ec_domain_finish(domain, domain_offset);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1724
        if (ret < 0) {
1197
f65f9c36ba33 Fixed missing up().
Florian Pose <fp@igh-essen.com>
parents: 1181
diff changeset
  1725
            up(&master->master_sem);
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 922
diff changeset
  1726
            EC_ERR("Failed to finish domain 0x%08X!\n", (u32) domain);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1727
            return ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1728
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1729
        domain_offset += domain->data_size;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1730
    }
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1731
    
1451
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1732
    // always set DC reference clock to OP
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1733
    if (master->dc_ref_clock) {
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1734
        ec_slave_request_state(master->dc_ref_clock, EC_SLAVE_STATE_OP);
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1735
    }
78fbafbf08ba Always set DC reference clock to OP.
Florian Pose <fp@igh-essen.com>
parents: 1436
diff changeset
  1736
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1737
    up(&master->master_sem);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1738
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1739
    // restart EoE process and master thread with new locking
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1740
#ifdef EC_EOE
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1741
    ec_master_eoe_stop(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1742
#endif
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1743
    ec_master_thread_stop(master);
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1744
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1745
    if (master->debug_level)
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1746
        EC_DBG("FSM datagram is %x.\n", (unsigned int) &master->fsm_datagram);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1747
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1748
    master->injection_seq_fsm = 0;
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1749
    master->injection_seq_rt = 0;
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1750
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1751
    master->send_cb = master->app_send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1752
    master->receive_cb = master->app_receive_cb;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1753
    master->cb_data = master->app_cb_data;
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 651
diff changeset
  1754
    
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1755
    ret = ec_master_thread_start(master, ec_master_operation_thread,
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1756
                "EtherCAT-OP");
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1757
    if (ret < 0) {
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1758
        EC_ERR("Failed to start master thread!\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
  1759
        return ret;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1760
    }
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1761
#ifdef EC_EOE
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 659
diff changeset
  1762
    ec_master_eoe_start(master);
715
f12ff7c08623 Added --enable-eoe conditional.
Florian Pose <fp@igh-essen.com>
parents: 714
diff changeset
  1763
#endif
902
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  1764
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  1765
    master->allow_config = 1; // request the current configuration
ad703091a32b Moved setting of the allow flags.
Florian Pose <fp@igh-essen.com>
parents: 901
diff changeset
  1766
    master->allow_scan = 1; // allow re-scanning on topology change
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1767
    master->active = 1;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1768
    return 0;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1769
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1770
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1771
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1772
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1773
void ecrt_master_deactivate(ec_master_t *master)
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1774
{
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1775
    ec_slave_t *slave;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1776
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1777
    ec_eoe_t *eoe;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1778
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1779
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1780
    if (master->debug_level)
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1781
        EC_DBG("ecrt_master_deactivate(master = 0x%x)\n", (u32) master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1782
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1783
    if (!master->active) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1784
        EC_WARN("%s: Master not active.\n", __func__);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1785
        return;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1786
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1787
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1788
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1789
    ec_master_eoe_stop(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1790
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1791
    ec_master_thread_stop(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1792
    
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1793
    master->send_cb = ec_master_internal_send_cb;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1794
    master->receive_cb = ec_master_internal_receive_cb;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1795
    master->cb_data = master;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1796
    
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1797
    down(&master->master_sem);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1798
    ec_master_clear_domains(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1799
    ec_master_clear_slave_configs(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1800
    up(&master->master_sem);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1801
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1802
    for (slave = master->slaves;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1803
            slave < master->slaves + master->slave_count;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1804
            slave++) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1805
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1806
        // set states for all slaves
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1807
        ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1808
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1809
        // mark for reconfiguration, because the master could have no
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1810
        // possibility for a reconfiguration between two sequential operation
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1811
        // phases.
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1812
        slave->force_config = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1813
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1814
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1815
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1816
    // ... but leave EoE slaves in OP
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1817
    list_for_each_entry(eoe, &master->eoe_handlers, list) {
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1818
        if (ec_eoe_is_open(eoe))
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1819
            ec_slave_request_state(eoe->slave, EC_SLAVE_STATE_OP);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1820
    }
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1821
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1822
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1823
    master->app_time = 0ULL;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1824
    master->app_start_time = 0ULL;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1825
    master->has_start_time = 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1826
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1827
    if (ec_master_thread_start(master, ec_master_idle_thread,
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1828
                "EtherCAT-IDLE"))
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1829
        EC_WARN("Failed to restart master thread!\n");
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1830
#ifdef EC_EOE
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1831
    ec_master_eoe_start(master);
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1832
#endif
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1833
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1834
    master->allow_scan = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1835
    master->allow_config = 1;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1836
    master->active = 0;
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1837
}
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1838
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1839
/*****************************************************************************/
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  1840
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1841
void ecrt_master_send(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1842
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1843
    ec_datagram_t *datagram, *n;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1844
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1845
    if (master->injection_seq_rt != master->injection_seq_fsm) {
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1846
        // inject datagrams produced by master & slave FSMs
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1847
        ec_master_queue_datagram(master, &master->fsm_datagram);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1848
        master->injection_seq_rt = master->injection_seq_fsm;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1849
    }
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
  1850
    ec_master_inject_sdo_datagrams(master);
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1851
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1852
    if (unlikely(!master->main_device.link_state)) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1853
        // link is down, no datagram can be sent
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1854
        list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1855
            datagram->state = EC_DATAGRAM_ERROR;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1856
            list_del_init(&datagram->queue);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1857
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1858
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1859
        // query link state
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1860
        ec_device_poll(&master->main_device);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1861
        return;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1862
    }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1863
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1864
    // send frames
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1865
    ec_master_send_datagrams(master);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1866
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1867
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1868
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1869
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1870
void ecrt_master_receive(ec_master_t *master)
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1871
{
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1872
    ec_datagram_t *datagram, *next;
664
18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is
Florian Pose <fp@igh-essen.com>
parents: 663
diff changeset
  1873
    unsigned int frames_timed_out = 0;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1874
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1875
    // receive datagrams
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1876
    ec_device_poll(&master->main_device);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1877
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1878
    // dequeue all datagrams that timed out
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1879
    list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1880
        if (datagram->state != EC_DATAGRAM_SENT) continue;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1881
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1882
#ifdef EC_HAVE_CYCLES
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1883
        if (master->main_device.cycles_poll - datagram->cycles_sent
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  1884
                > timeout_cycles) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1885
#else
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  1886
        if (master->main_device.jiffies_poll - datagram->jiffies_sent
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  1887
                > timeout_jiffies) {
1040
d2527675cdd5 Disable use of CPU timestamp counter by default.
Florian Pose <fp@igh-essen.com>
parents: 1031
diff changeset
  1888
#endif
664
18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is
Florian Pose <fp@igh-essen.com>
parents: 663
diff changeset
  1889
            frames_timed_out = 1;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1890
            list_del_init(&datagram->queue);
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1891
            datagram->state = EC_DATAGRAM_TIMED_OUT;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1892
            master->stats.timeouts++;
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1893
            ec_master_output_stats(master);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1894
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1895
            if (unlikely(master->debug_level > 0)) {
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1896
                unsigned int time_us;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1897
#ifdef EC_HAVE_CYCLES
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1898
                time_us = (unsigned int) (master->main_device.cycles_poll -
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1899
                        datagram->cycles_sent) * 1000 / cpu_khz;
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1900
#else
1279
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  1901
                time_us = (unsigned int) ((master->main_device.jiffies_poll -
6911450535b7 merge -c1522 branches/stable-1.4: Fixed jace in jiffies timeout calculation.
Florian Pose <fp@igh-essen.com>
parents: 1252
diff changeset
  1902
                            datagram->jiffies_sent) * 1000000 / HZ);
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1903
#endif
691
77b79a29e0e7 Included datagram queuing in critical section in idle task; added some
Florian Pose <fp@igh-essen.com>
parents: 690
diff changeset
  1904
                EC_DBG("TIMED OUT datagram %08x, index %02X waited %u us.\n",
1237
33e8349b44bd Avoided using #ifdef inside a macro.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
  1905
                        (unsigned int) datagram, datagram->index, time_us);
684
bf991809dcf0 Added debugging output for unmatched frames and those that timed out.
Florian Pose <fp@igh-essen.com>
parents: 664
diff changeset
  1906
            }
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1907
        }
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1908
    }
664
18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is
Florian Pose <fp@igh-essen.com>
parents: 663
diff changeset
  1909
18c48cb7de06 Introduced frames_timed_out flag to notice bus failure when link down is
Florian Pose <fp@igh-essen.com>
parents: 663
diff changeset
  1910
    master->frames_timed_out = frames_timed_out;
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1911
}
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1912
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1913
/*****************************************************************************/
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
  1914
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1915
void ecrt_master_send_ext(ec_master_t *master)
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1916
{
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1917
    ec_datagram_t *datagram, *next;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1918
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1919
    list_for_each_entry_safe(datagram, next, &master->ext_datagram_queue,
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1920
            queue) {
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1921
        list_del(&datagram->queue);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1922
        ec_master_queue_datagram(master, datagram);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1923
    }
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1924
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1925
    ecrt_master_send(master);
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1926
}
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1927
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1928
/*****************************************************************************/
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  1929
1332
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  1930
/** Same as ecrt_master_slave_config(), but with ERR_PTR() return value.
d62633fea8ed merge -c1610 branches/stable-1.4: Added missing doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 1329
diff changeset
  1931
 */
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1932
ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *master,
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1933
        uint16_t alias, uint16_t position, uint32_t vendor_id,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  1934
        uint32_t product_code)
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1935
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1936
    ec_slave_config_t *sc;
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  1937
    unsigned int found = 0;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  1938
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1939
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1940
    if (master->debug_level)
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1941
        EC_DBG("ecrt_master_slave_config(master = 0x%x, alias = %u, "
1483
43adf48aa157 Minor: vendor/product with 8 hex digits.
Florian Pose <fp@igh-essen.com>
parents: 1451
diff changeset
  1942
                "position = %u, vendor_id = 0x%08x, product_code = 0x%08x)\n",
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1943
                (u32) master, alias, position, vendor_id, product_code);
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  1944
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1945
    list_for_each_entry(sc, &master->configs, list) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1946
        if (sc->alias == alias && sc->position == position) {
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  1947
            found = 1;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  1948
            break;
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  1949
        }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  1950
    }
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 692
diff changeset
  1951
1024
fef0b1953770 Minor change.
Florian Pose <fp@igh-essen.com>
parents: 1023
diff changeset
  1952
    if (found) { // config with same alias/position already existing
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  1953
        if (sc->vendor_id != vendor_id || sc->product_code != product_code) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1954
            EC_ERR("Slave type mismatch. Slave was configured as"
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  1955
                    " 0x%08X/0x%08X before. Now configuring with"
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  1956
                    " 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code,
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  1957
                    vendor_id, product_code);
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1958
            return ERR_PTR(-ENOENT);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1959
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1960
    } else {
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  1961
        if (master->debug_level)
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  1962
            EC_DBG("Creating slave configuration for %u:%u, 0x%08X/0x%08X.\n",
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  1963
                    alias, position, vendor_id, product_code);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1964
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1965
        if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t),
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1966
                        GFP_KERNEL))) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1967
            EC_ERR("Failed to allocate memory for slave configuration.\n");
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1968
            return ERR_PTR(-ENOMEM);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1969
        }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1970
995
54149a703c47 Removed kobject from slave_config.
Florian Pose <fp@igh-essen.com>
parents: 994
diff changeset
  1971
        ec_slave_config_init(sc, master,
1010
6672b86e7b10 Reverted revision number checking from r1228.
Florian Pose <fp@igh-essen.com>
parents: 1009
diff changeset
  1972
                alias, position, vendor_id, product_code);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1973
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1974
        down(&master->master_sem);
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1975
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1976
        // try to find the addressed slave
1055
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  1977
        ec_slave_config_attach(sc);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo
Florian Pose <fp@igh-essen.com>
parents: 1047
diff changeset
  1978
        ec_slave_config_load_default_sync_config(sc);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1979
        list_add_tail(&sc->list, &master->configs);
1075
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1980
94c6e36e0f8d Implemented master semaphore to secure concurrent access from ioctls, state machine and realtime interface.
Florian Pose <fp@igh-essen.com>
parents: 1055
diff changeset
  1981
        up(&master->master_sem);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1982
    }
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1983
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1984
    return sc;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1985
}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1986
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1987
/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  1988
1312
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1989
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1990
        uint16_t alias, uint16_t position, uint32_t vendor_id,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1991
        uint32_t product_code)
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1992
{
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1993
    ec_slave_config_t *sc = ecrt_master_slave_config_err(master, alias,
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1994
            position, vendor_id, product_code);
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1995
    return IS_ERR(sc) ? NULL : sc;
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1996
}
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1997
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1998
/*****************************************************************************/
74853e018898 Created backend versions of all API functions returing a pointer; using
Florian Pose <fp@igh-essen.com>
parents: 1303
diff changeset
  1999
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2000
void ecrt_master_callbacks(ec_master_t *master,
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2001
        void (*send_cb)(void *), void (*receive_cb)(void *), void *cb_data)
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2002
{
1181
9e5954a2a46e Added debugging for configuration function of the application interface.
Florian Pose <fp@igh-essen.com>
parents: 1178
diff changeset
  2003
    if (master->debug_level)
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2004
        EC_DBG("ecrt_master_callbacks(master = 0x%x, send_cb = 0x%x, "
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2005
                " receive_cb = 0x%x, cb_data = 0x%x)\n", (u32) master,
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2006
                (u32) send_cb, (u32) receive_cb, (u32) cb_data);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2007
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2008
    master->app_send_cb = send_cb;
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2009
    master->app_receive_cb = receive_cb;
1513
60ca68d853b8 Re-added callback data pointer, because it is necessary for some applications.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  2010
    master->app_cb_data = cb_data;
204
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2011
}
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2012
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2013
/*****************************************************************************/
5ab50514d9b2 Locking callback interface.
Florian Pose <fp@igh-essen.com>
parents: 203
diff changeset
  2014
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2015
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2016
{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2017
    state->slaves_responding = master->fsm.slaves_responding;
1022
8e49b519e6ba Implemented ecrt_slave_config_state(); minor changes in
Florian Pose <fp@igh-essen.com>
parents: 1018
diff changeset
  2018
    state->al_states = master->fsm.slave_states;
1018
e068da25639d Completed master states.
Richard Hacker <ha@igh-essen.com>
parents: 1015
diff changeset
  2019
    state->link_up = master->main_device.link_state;
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2020
}
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2021
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2022
/*****************************************************************************/
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 610
diff changeset
  2023
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2024
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1415
diff changeset
  2025
{
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1415
diff changeset
  2026
    master->app_time = app_time;
1436
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2027
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2028
    if (unlikely(!master->has_start_time)) {
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2029
        master->app_start_time = app_time;
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2030
        master->has_start_time = 1;
08eaf72409bb Use application start time as a common reference for cyclic generation
Florian Pose <fp@igh-essen.com>
parents: 1434
diff changeset
  2031
    }
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2032
}
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2033
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2034
/*****************************************************************************/
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2035
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2036
void ecrt_master_sync_reference_clock(ec_master_t *master)
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2037
{
1396
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
  2038
    EC_WRITE_U32(master->ref_sync_datagram.data, master->app_time);
9d04cc08f40f DC sync reference clock to application time. TBC...
Florian Pose <fp@igh-essen.com>
parents: 1394
diff changeset
  2039
    ec_master_queue_datagram(master, &master->ref_sync_datagram);
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2040
}
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2041
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2042
/*****************************************************************************/
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2043
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2044
void ecrt_master_sync_slave_clocks(ec_master_t *master)
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2045
{
1394
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2046
    ec_datagram_zero(&master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2047
    ec_master_queue_datagram(master, &master->sync_datagram);
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2048
}
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2049
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2050
/*****************************************************************************/
e77728ddf0f9 Introduced ecrt_master_sync() for synchronizing slave clocks to reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1388
diff changeset
  2051
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2052
void ecrt_master_sync_monitor_queue(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2053
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2054
    ec_datagram_zero(&master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2055
    ec_master_queue_datagram(master, &master->sync_mon_datagram);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2056
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2057
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2058
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2059
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2060
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2061
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2062
    if (master->sync_mon_datagram.state == EC_DATAGRAM_RECEIVED) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2063
        return EC_READ_U32(master->sync_mon_datagram.data) & 0x7fffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2064
    } else {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2065
        return 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2066
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2067
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2068
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2069
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2070
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2071
/** \cond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2072
104
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  2073
EXPORT_SYMBOL(ecrt_master_create_domain);
052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents: 101
diff changeset
  2074
EXPORT_SYMBOL(ecrt_master_activate);
1530
96629de2202b Added ecrt_master_deactivate() to remove the bus configuration.
Florian Pose <fp@igh-essen.com>
parents: 1516
diff changeset
  2075
EXPORT_SYMBOL(ecrt_master_deactivate);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  2076
EXPORT_SYMBOL(ecrt_master_send);
1500
ed1a733efbc5 Improved the callback mechanism.
Florian Pose <fp@igh-essen.com>
parents: 1489
diff changeset
  2077
EXPORT_SYMBOL(ecrt_master_send_ext);
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 321
diff changeset
  2078
EXPORT_SYMBOL(ecrt_master_receive);
206
60a10d85c20b Prepared EoE processing with workqueue.
Florian Pose <fp@igh-essen.com>
parents: 204
diff changeset
  2079
EXPORT_SYMBOL(ecrt_master_callbacks);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2080
EXPORT_SYMBOL(ecrt_master_slave_config);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
  2081
EXPORT_SYMBOL(ecrt_master_state);
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1426
diff changeset
  2082
EXPORT_SYMBOL(ecrt_master_application_time);
1410
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2083
EXPORT_SYMBOL(ecrt_master_sync_reference_clock);
fb6719008bf5 Separated sync_reference_clock() and sync_slave_clocks().
Florian Pose <fp@igh-essen.com>
parents: 1408
diff changeset
  2084
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2085
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1530
diff changeset
  2086
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
42
a22a202d0f42 Domains, Warten beim Senden, 10kHz.
Florian Pose <fp@igh-essen.com>
parents: 39
diff changeset
  2087
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2088
/** \endcond */
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2089
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
  2090
/*****************************************************************************/